CN113345551A - Exoskeleton finger and exoskeleton glove - Google Patents
Exoskeleton finger and exoskeleton glove Download PDFInfo
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- CN113345551A CN113345551A CN202010135074.1A CN202010135074A CN113345551A CN 113345551 A CN113345551 A CN 113345551A CN 202010135074 A CN202010135074 A CN 202010135074A CN 113345551 A CN113345551 A CN 113345551A
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 61
- 230000004044 response Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 2
- 230000005057 finger movement Effects 0.000 abstract description 2
- 210000003811 finger Anatomy 0.000 description 81
- 210000004932 little finger Anatomy 0.000 description 9
- 230000009471 action Effects 0.000 description 6
- 210000003813 thumb Anatomy 0.000 description 5
- 241000203475 Neopanax arboreus Species 0.000 description 4
- 230000009466 transformation Effects 0.000 description 4
- 206010061296 Motor dysfunction Diseases 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004064 dysfunction Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 208000019430 Motor disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000009207 exercise therapy Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Physical Education & Sports Medicine (AREA)
- Epidemiology (AREA)
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- Pain & Pain Management (AREA)
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- Animal Behavior & Ethology (AREA)
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Abstract
Embodiments of the present disclosure disclose a finger exoskeleton and a glove exoskeleton. One embodiment of the exoskeleton finger comprises: a phalanx exoskeleton, a wearing part corresponding to phalanx of a finger; the direction conversion structure is connected with one side, far away from the finger tip, of the phalange exoskeleton and used for converting the movement of the phalange exoskeleton on a first plane into the movement of the direction conversion structure on a second plane, wherein the first plane is perpendicular to the second plane. The finger exoskeleton disclosed by the embodiment can convert the movement of the finger exoskeleton in the first plane into the movement of the direction conversion structure in the second plane, so that the acquisition of the finger movement information is facilitated, and the space position occupied by the position information acquisition structure for acquiring the movement information in the glove exoskeleton is reduced.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of robots, in particular to a finger exoskeleton and a glove exoskeleton.
Background
In recent years, the incidence of motor dysfunction diseases (e.g., stroke, etc.) has been high in recent years, and particularly, the flexible joints of the fingers are more seriously affected by the motor dysfunction.
Modern medical and clinical manifestations demonstrate that scientifically effective exercise therapy is an effective treatment for motor dysfunction. However, due to the high technical requirements of the motor therapy, the medical professionals are required to perform the treatment for a long time one by one, which requires a great deal of long-time labor of the medical professionals, and the requirements of the rehabilitation training of the patients with the motor disorder are undoubtedly not met.
In the related art, the glove exoskeleton is used for treating the finger movement dysfunction, so that the workload of medical staff can be reduced while the requirement of rehabilitation training of patients with the movement dysfunction is met. However, when the existing glove exoskeleton performs grabbing, holding and other actions, the finger exoskeleton mainly moves in a plane perpendicular to the palm, and the collection of the position information of the finger exoskeleton is inconvenient. In this case, the position information collecting structure usually needs to collect the motion information of the exoskeleton of each finger moving in the plane perpendicular to the palm, which often causes the problem that the position information collecting structure occupies a large space in the exoskeleton of the glove, and the practicability of the exoskeleton of the glove is poor.
Disclosure of Invention
Embodiments of the present disclosure provide a finger exoskeleton and a glove exoskeleton.
In a first aspect, embodiments of the present disclosure provide a finger exoskeleton comprising: the phalanx exoskeleton is a wearing part corresponding to phalanx of a finger; the direction conversion structure is connected with one side, far away from the finger tip, of the phalange exoskeleton and used for converting the movement of the phalange exoskeleton on a first plane into the movement of the direction conversion structure on a second plane, wherein the first plane is perpendicular to the second plane.
In some embodiments, the directional rotation structure comprises: the moving rod is used for moving along with the movement of the exoskeleton of the fingers; the left and right swing rods are provided with longitudinal pin shaft holes and can move in a second plane; and the longitudinal pin shaft penetrates through the longitudinal pin shaft hole and is connected with the movable rod and the left and right oscillating rods, wherein the axial extension direction of the longitudinal pin shaft is vertical to the second plane, and the longitudinal pin shaft drives the left and right oscillating rods to move in the second plane in response to the movement of the movable rod.
In some embodiments, the phalangeal exoskeleton comprises an upper and lower swing link, wherein the upper and lower swing link is a wearing part corresponding to proximal phalanx of a finger; the upper and lower swing rods are connected with the movable rod through a first transverse pin shaft so that the movable rod moves in response to the movement of the upper and lower swing rods in a first plane, wherein the axial extension direction of the first transverse pin shaft is perpendicular to the axial extension direction of the longitudinal pin shaft.
In some embodiments, the direction conversion structure further comprises: a support for connecting the main frame plate; the bearing is arranged in a cavity arranged in the support and is used for connecting the support and the left and right oscillating bars so as to enable the left and right oscillating bars to move in a second plane relative to the main frame plate; the upper and lower swing rods are connected with the support through a second transverse pin shaft so as to move in a first plane relative to the main frame plate, wherein the shaft extension direction of the second transverse pin shaft is vertical to the shaft extension direction of the longitudinal pin shaft.
In some embodiments, the left and right swing rods are provided with threaded holes, so that the bearing is fixedly connected with the left and right swing rods through the support and the bearing pressing plate.
In some embodiments, the bearing is an interference fit with the cavity of the mount.
In some embodiments, the finger exoskeleton further comprises: the first clamp spring and the second clamp spring are respectively arranged in the shaft grooves of the longitudinal pin shaft and the first transverse pin shaft to fix the longitudinal pin shaft and the first transverse pin shaft.
In some embodiments, the finger exoskeleton further comprises: and the third clamp spring is arranged in a shaft groove of the second transverse pin shaft to fix the second transverse pin shaft.
In a second aspect, embodiments of the present disclosure provide a glove exoskeleton, the glove comprising: the finger exoskeleton of any one of the above embodiments, wherein the glove exoskeleton further comprises: a main frame plate which is a wearing part corresponding to the palm; the finger exoskeleton is connected with the main frame plate through a direction rotating structure.
In some embodiments, the finger exoskeleton comprises a support; the exoskeleton of the fingers is fixedly connected with the main frame plate through the support.
In some embodiments, the glove exoskeleton further comprises: and the position information acquisition structure is arranged corresponding to the direction rotating structure and is used for acquiring the motion information of the direction rotating structure on the second plane.
In some embodiments, the glove exoskeleton further comprises: and the main control board is electrically connected with the position information acquisition structures and is used for processing the motion information acquired by each position information acquisition structure and generating a control signal for controlling the exoskeleton finger to move.
The finger exoskeleton and glove exoskeleton comprise phalanx exoskeletons and direction conversion structures, the phalanx exoskeletons are wearing parts corresponding to phalanx of fingers, the direction conversion structures are connected with one sides of the phalanx exoskeletons, which are far away from fingertips, and the direction conversion structures can convert the movement of the phalanx exoskeletons on a first plane into the movement of the direction conversion structures on a second plane perpendicular to the first plane. The direction conversion structure in the scheme of this disclosure can convert the motion of phalange exoskeleton on a first plane (e.g., a vertical plane) into the motion of the direction conversion structure on a second plane (e.g., a horizontal plane), so that the motion information of the direction conversion structure in the second plane can be determined by the position information collection structure collecting the motion information of the direction conversion structure, and the collection of the phalange exoskeleton motion information is facilitated. It can be understood that the position information acquisition structure occupies a smaller space position in the glove exoskeleton, namely, the acquisition of the motion information of the direction conversion structure in the second plane can be realized, the size of the glove exoskeleton is reduced, and the practicability of the glove exoskeleton is improved.
Drawings
Other features, objects and advantages of the disclosure will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
figure 1A shows a schematic structural diagram of one embodiment of a finger exoskeleton according to the present disclosure;
FIG. 1B illustrates an alternate view of the phalangeal exoskeleton movement and direction conversion structure movement from the phalangeal exoskeleton of FIG. 1A;
FIG. 1C shows a cross-sectional view of a portion of the structure of the finger exoskeleton of FIG. 1A;
figure 2A illustrates a schematic structural view of one embodiment of a glove exoskeleton according to the present disclosure;
fig. 2B shows a schematic view of the glove exoskeleton of fig. 2A being worn on a hand.
Detailed Description
The present disclosure is described in further detail below with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that, in the present disclosure, the embodiments and features of the embodiments may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Figure 1A shows a schematic structural diagram of one embodiment of a finger exoskeleton according to the present disclosure. In this embodiment, finger exoskeleton 100 can include a phalangeal exoskeleton and direction converter 102, as shown in fig. 1A. It is understood that the finger exoskeleton 100 disclosed in the present embodiment can constitute a glove exoskeleton, which can be a wearable device for a hand.
In this embodiment, the phalange exoskeleton can be a wearing part corresponding to phalanges of a finger, and the phalange exoskeleton can be connected with the direction conversion structure. Specifically, the direction conversion structure can be connected with the side of the phalangeal exoskeleton, which is far away from the fingertip. It will be appreciated that the phalanges of the finger may be the fingertip to proximal phalanx portion of the finger. It should be noted that, for clarity and specific illustration of the specific structure of the exoskeleton, only the wearing portion 101 corresponding to the proximal phalanx of the exoskeleton and the connection 102 of the direction conversion structure are shown in fig. 1A.
It should be noted that in the prior art, when a user wears a glove exoskeleton including a finger exoskeleton to perform a grabbing, holding and the like action, the phalanx exoskeleton in the finger exoskeleton can move in a first plane. Here, the first plane may be a plane perpendicular to a plane in which the palm is located. It is understood that when a user grasps and holds a hand-wearing device including the above-described finger exoskeleton 100, the first plane and the second plane may be planes determined with reference to the palm, for example, when the palm is horizontally placed, the first plane may be a vertical plane, and the finger exoskeleton may move in the vertical plane when the finger exoskeleton performs grasping, holding and other actions. In the prior art, in order to collect motion information of the exoskeleton of the finger in a first plane (for example, a vertical plane, etc.), the position information collecting structure is often required to be arranged relative to the first plane, and in this case, the position information collecting structure generally needs to occupy a large space range, which results in a large glove exoskeleton volume and poor practicability.
In the present embodiment, the direction conversion structure 102 is connected to the wearing portion 101 corresponding to the proximal phalanx of the phalanx exoskeleton, so that the direction conversion structure 102 can convert the movement of the phalanx exoskeleton on a first plane (e.g., a vertical plane) into the movement of the direction conversion structure 102 on a second plane (e.g., a horizontal plane). Here, the first plane may be perpendicular to the second plane.
Thus, when a glove exoskeleton incorporating finger exoskeleton 100 performs an action, such as grasping, etc., the phalangeal exoskeleton can move in a first plane (e.g., a vertical plane), and then AND-direction transfer structure 102 can translate the movement of the phalangeal exoskeleton in the first plane into a movement of the direction transfer structure in a second plane (e.g., a horizontal plane). Therefore, the movement information of the position information acquisition structure acquisition direction conversion structure 102 in the glove exoskeleton in the second plane can determine the movement information of the phalanx exoskeleton in the first plane, so that the position information acquisition structure can conveniently acquire the movement information of the direction conversion structure 102 in the second plane, and the problem that the size of the glove exoskeleton is large due to the fact that the position information acquisition structure must acquire the movement information of the first plane is avoided. It is understood that the specific structure of the direction transformation structure can be shown as the dashed circle in fig. 1A, and of course, the direction transformation structure can be in other structural forms, which can realize the transformation of the motion of the phalangeal exoskeleton in the first plane into the motion of the direction transformation structure in the second plane, and there is no limitation here.
In some optional implementations of the present embodiment, the direction conversion structure 102 may include a moving rod 1021, left and right swinging rods 1022, and a longitudinal pin 1023, as shown in fig. 1A. Wherein, the moving rod 1021 can move along with the motion of the phalanx exoskeleton. The left and right rocking levers 1022 are provided therein with longitudinal pin holes 10221, and as shown in fig. 1A, the longitudinal pin holes 10221 are movable on the second surface. The longitudinal pin 1023 may pass through the longitudinal pin hole 10221 in the left and right swing link 1022 to connect the moving bar 1021 and the left and right swing link 1022, as shown in fig. 1A. Therefore, if the moving rod 1021 moves in the first plane, the longitudinal pin 1023 can be linked to move in the longitudinal pin hole 10221, so that the left and right swing links 1022 can be driven to move in the second plane. It should be noted that the longitudinal pin axis 1023 extends in a direction perpendicular to the second plane.
Further, the phalangeal exoskeleton may comprise an upper and lower swing link 101, as shown in fig. 1A, wherein the upper and lower swing link 101 may be a wearing part corresponding to proximal phalanx of a finger. The up-down swing link 101 may be connected to the moving bar 1021 by a first transverse pin 1024 so that the moving bar 1021 may move in response to the movement of the up-down swing link 101 in the first plane. Here, the axial extension direction of the first transverse pin 1024 may be perpendicular to the axial extension direction of the longitudinal pin 1023, as shown in fig. 1A. It will be appreciated that the pin may be a standardised fastener, primarily for use at the hinge of two parts, to form a hinged link. The pin shaft can play a role in static fixed connection and also can play a role in relative movement with a connected piece. In this embodiment, the longitudinal pin 1023 plays a role of relative movement with the connected component, i.e. the longitudinal pin 1023 and the left and right swing links 1022 move relatively, and the first transverse pin 1024 plays a role of static fixed connection, i.e. the moving rod 1021 and the upper and lower swing links 101 are statically fixed connected.
It can be understood that when the phalangeal exoskeleton moves in a first plane, as shown in fig. 1B, the upper and lower swing link 101 can move in the first plane, and link with the first transverse pin 1024 to pull the moving rod 1021, and simultaneously link with the longitudinal pin 1023 to pull the left and right swing links 1022 for movement, thereby completing the conversion from the movement of the phalangeal exoskeleton in the first plane to the movement of the direction conversion structure 102 in a second plane, as shown in fig. 1B. Wherein fig. 1B shows an alternate view of the phalangeal exoskeleton movement and direction conversion structure movement in the finger exoskeleton of fig. 1A.
In some optional implementation manners of this embodiment, the direction conversion structure may further include: and a support 1025, as shown in FIG. 1A. Wherein, support 1025 can be used to fix exoskeleton 100. Further, the direction conversion structure 102 may further include a bearing 1026, as shown in fig. 1C. Wherein fig. 1C shows a cross-sectional view of a partial structure of the exoskeleton of the fingers of fig. 1A. It should be noted that the support 1025 can be provided with a cavity, and as shown in fig. 1C, the bearing 1026 can be disposed in the cavity of the support 1025. The bearing 1026 may connect the support 1026 and the left and right swinging rods 1022, so that the left and right swinging rods 1022 may move in a second plane with respect to the support 1025 along with the rotation of the bearing 1026. The up-down link 101 may be coupled to the seat 1025 via a second transverse pin 1027, as shown in FIG. 1A, such that the up-down link 101 may move in a first plane relative to the seat 1025. The axis extending direction of the second horizontal pin 1027 is perpendicular to the axis extending direction of the longitudinal pin 1023, and the axis extending direction of the second horizontal pin 1027 may also be parallel to the axis extending direction of the first horizontal pin 1024, as shown in fig. 1A. Moreover, similar to the first horizontal pin 1024, the second horizontal pin 1027 also serves as a static fixed connection, i.e., the support 1025 is statically and fixedly connected to the upper and lower swing links 101.
In some alternative implementations of the present embodiment, bearing 1026 may be an interference fit with a cavity of support 1025, as shown in fig. 1C, such that bearing 1026 may be tightly coupled to support 1025, which may improve the stability of exoskeleton finger 100.
In some optional implementations of this embodiment, the left and right swing links 1022 may have threaded holes 1028 therein, as shown in fig. 1B. The bearing unit 1025 can fixedly connect the bearing 1026 to the left and right swing links 1022 through a screw 1029 and a bearing pressing plate 1030. It can be understood that the bearing pressing plate 1030 and the screw 1029 are matched with each other, so that the bearing 1026 can fix the support 1025 and simultaneously the left and right swinging rods 1022 can move in the second plane, i.e. the motion of the phalangeal exoskeleton in the first plane can be converted into the motion of the direction conversion structure in the second plane.
In some optional implementations of this embodiment, the above-mentioned exoskeleton finger 100 may further comprise a snap spring cooperating with the longitudinal pin 1023, the first transverse pin 1024 and the second transverse pin 1027, as shown in fig. 1A and 1C. The clamp spring can be called as a retainer ring or a snap ring, belongs to one type of fastener, and is used for fastening a bearing and avoiding the bearing from falling off. Specifically, the above-mentioned finger exoskeleton 100 may include a first snap spring 1031, a second snap spring 1032 and a third snap spring 1033 corresponding to the longitudinal pin 1023, the first transverse pin 1024 and the second transverse pin 1027, respectively, as shown in fig. 1A and 1C. The first snap spring 1031 may be disposed in a groove of the longitudinal pin 1023, as shown in fig. 1A. A second circlip 1032 may be provided at a slot of the first transverse pin 1024 and a third circlip 1033 may be provided at a slot of the second transverse pin 1027, as shown in fig. 1A and 1C.
The finger exoskeleton 100 provided by the above embodiments of the present disclosure may include a phalanx exoskeleton and a direction conversion structure 102, the phalanx exoskeleton is a wearing part corresponding to phalanx of a finger, the direction conversion structure 102 may be connected to a side of the phalanx exoskeleton away from a fingertip, and the direction conversion structure 102 may convert a movement of the phalanx exoskeleton on a first plane into a movement of the direction conversion structure on a second plane perpendicular to the first plane. The direction conversion structure in the scheme of this disclosure can convert the motion of phalange exoskeleton on a first plane (e.g., a vertical plane) into the motion of the direction conversion structure on a second plane (e.g., a horizontal plane), so that the motion information of the direction conversion structure in the second plane can be determined by the position information collection structure collecting the motion information of the direction conversion structure, and the collection of the phalange exoskeleton motion information is facilitated. It can be understood that the position information acquisition structure occupies a smaller space position in the glove exoskeleton, namely, the acquisition of the motion information of the direction conversion structure in the second plane can be realized, the size of the glove exoskeleton is reduced, and the practicability of the glove exoskeleton is improved.
Next, with continuing reference to fig. 2A, fig. 2A shows a schematic structural view of one embodiment of a glove exoskeleton according to the present disclosure. In this embodiment, the glove comprising glove exoskeleton 200 as shown in fig. 2A may be a wearable device for a hand. The glove exoskeleton 200 described above can include a main frame plate 201 and at least one finger exoskeleton, such as five finger exoskeleton 202, 203, 204, 205, 206, as shown in fig. 2A. Of course, the number of the exoskeleton fingers can be set according to actual needs. Taking the example that the glove exoskeleton 200 includes five-finger exoskeleton, as shown in fig. 2A, the five- finger exoskeleton 202, 203, 204, 205, 206 in the glove exoskeleton 200 may include five direction conversion structures 2021, 2031, 2041, 2051, 2061, respectively, and each direction conversion structure in the glove exoskeleton may be located in a dotted coil as shown in fig. 2A.
In the present embodiment, the main frame plate 201 may be a wearing portion corresponding to a palm, as shown in fig. 2A, and the shape of the main frame plate 201 is adapted to the shape of the palm, for example, the main frame plate 201 may be a plate-shaped structure projected as a rectangle as shown in fig. 2A. Of course, the main frame plate 201 may have other shapes such as a plate-shaped structure projected in a trapezoid shape, and the like, and the shape is not limited to this. The five- finger exoskeletons 202, 203, 204, 205 and 206 may be worn parts corresponding to five fingers, respectively, as shown in fig. 2B, and fig. 2B is a schematic view showing the glove exoskeletons of fig. 2A worn on the hand. Specifically, the five-finger exoskeleton may include a thumb exoskeleton 202, an index-finger exoskeleton 203, a middle-finger exoskeleton 204, a ring-finger exoskeleton 205, and a little-finger exoskeleton 206. It is understood that the above-mentioned thumb exoskeleton 202 can be a wearing part corresponding to a thumb, the index finger exoskeleton 203 can be a wearing part corresponding to an index finger, the middle finger exoskeleton 204 can be a wearing part corresponding to a middle finger, the ring finger exoskeleton 205 can be a wearing part corresponding to a ring finger, and the little finger exoskeleton 206 can be a wearing part corresponding to a little finger, as shown in fig. 2B.
It should be noted that each of the above finger exoskeletons typically need to be connected to the main frame panel 201 so that the wearable functionality of the glove exoskeletons 200 can be achieved. In the prior art, the exoskeleton of each finger is often fixedly connected directly to the main frame plate 201. Thus, each finger exoskeleton can move in a first plane when a user performs a grasping, holding, etc., action while wearing the glove exoskeleton shown in fig. 2A. Here, the first plane may be a surface parallel to the first surface of the main frame plate 201. It will be appreciated that the main frame panel 201 may be disposed opposite the palm of the hand when the user is wearing a glove incorporating the glove exoskeleton 200, and the first surface described above may be the surface of the main frame panel 201 opposite the palm of the hand. For example, when the palm is placed horizontally, the first plane may be a vertical plane, and the exoskeleton fingers may move in the vertical plane when the exoskeleton fingers perform grabbing, holding and the like. In the glove exoskeleton in the prior art, in order to acquire motion information of each phalanx exoskeleton in a first plane (for example, a vertical plane and the like), a position information acquisition structure is often required to be arranged relative to the first plane, and under such a condition, the position information acquisition structure generally needs to occupy a large space range, so that the glove exoskeleton is large in size and poor in practicability.
In this embodiment, each finger exoskeleton may be coupled to the main frame plate 201 through a corresponding directional translation structure. Specifically, the thumb exoskeleton 202 is connected to the main frame plate 201 through a direction conversion structure 2021 corresponding to the thumb exoskeleton 202, the index finger exoskeleton 203 is connected to the main frame plate 201 through a direction conversion structure 2031 corresponding to the index finger exoskeleton 203, the middle-finger exoskeleton 204 is connected to the direction conversion structure 2041 corresponding to the middle-finger exoskeleton 204, the ring finger exoskeleton 205 is connected to the main frame plate 201 through a direction conversion structure 2051 corresponding to the ring finger exoskeleton 205, and the little-finger exoskeleton 206 is connected to the main frame plate 201 through a direction conversion structure 2061 corresponding to the little-finger exoskeleton 206, as shown in fig. 2A.
The above-mentioned direction conversion structures can be used for converting the movement of the corresponding phalangeal exoskeleton on the first plane into the movement of the direction conversion structure on the second plane. The second plane may be parallel to the first surface of the main frame plate 201. Thus, when glove exoskeleton 200 performs an action such as grasping, etc., the phalangeal exoskeleton of each finger exoskeleton moves in a first plane (e.g., vertical plane), and then the direction conversion structure in each finger exoskeleton can convert the movement of the corresponding phalangeal exoskeleton in the first plane into a movement of the direction conversion structure in a second plane (e.g., horizontal plane). Therefore, the position information acquisition structure acquires the motion information of the direction conversion structure in the second plane, namely the motion information of the phalanx exoskeleton in the first plane can be determined, the direction conversion structure can facilitate the position information acquisition structure to acquire the motion information in the second plane, and the problem that the glove exoskeleton is large in size due to the fact that the position information acquisition structure acquires the motion information of the first plane is avoided.
It will be appreciated that the position information acquisition structures of the respective finger exoskeletons typically acquire movements of the finger exoskeletons away from the tip of the finger, and therefore the position information acquisition structures are often disposed on the finger exoskeletons away from the tip of the finger. And, it is enough that the positional information collection structure collects the movement information in the second surface, so the positional information collection structure may be disposed opposite to the second surface. By combining the two points, the position information acquisition structure occupies a small space in the glove exoskeleton, so that the motion information of the finger exoskeleton can be acquired, and the size of the glove exoskeleton can be reduced.
In some optional implementations of the present embodiment, the glove exoskeleton 200 may include position information collecting structures corresponding to the finger exoskeletons, for example, five position information collecting structures, as shown in fig. 2A, where each position information collecting structure may be respectively disposed corresponding to the finger exoskeletons. Here, taking the position information collection structure 207 corresponding to the little-finger exoskeleton 206 as an example, as shown in fig. 2A, the position information collection structure 207 may be provided corresponding to the direction rotation structure 2061 corresponding to the little-finger exoskeleton 206. Further, the position information collecting structure 207 corresponding to the little-finger exoskeleton 206 can be in contact connection with the direction rotating structure 2061, so that the position information collecting structure 207 can collect the motion information of the position information collecting structure 207 in the second plane. It should be noted that the positions and functions of the position information acquisition structures corresponding to the exoskeleton structures of other fingers except the little finger exoskeleton are the same as or similar to those of the position information acquisition structure 207, and are not described herein again. It will be appreciated that the various positional information collection structures described above may also be provided at other locations on glove exoskeleton 200, and are not limited solely herein.
In some optional implementations of this embodiment, the glove exoskeleton 200 can further include a main control board 208, as shown in fig. 2A, and the various location information collection structures (e.g., location information collection structure 207) described above can be electrically connected to the main control board 208. Therefore, the main control board 208 can obtain the motion information of the corresponding exoskeleton finger from each position information collection structure. The master control board 208 may then process and analyze the acquired motion information so that control signals may be generated for controlling the movement of the exoskeleton each finger. Alternatively, the main control board 208 may be fixed to the main frame board 201 by screws, as shown in fig. 2A. It will be appreciated that the master control board 208 may also be located at other locations on the glove exoskeleton 200, and is not limited thereto.
The glove exoskeleton 200 disclosed in the above embodiments of the present application comprises the finger exoskeleton of the above embodiments, and a main frame plate 201, each finger exoskeleton being connected to the main frame plate 201 through a direction conversion structure therein. In the scheme disclosed in this embodiment, the direction conversion structure can convert the movement of the finger exoskeleton on the first plane (for example, a vertical plane) into the movement of the direction conversion structure on the second plane (for example, a horizontal plane), so that the position information acquisition structure acquires the movement information of the direction conversion structure in the second plane, that is, the movement information of the finger exoskeleton in the first direction can be determined, the position information acquisition structure occupies a smaller spatial position in the glove exoskeleton, that is, the acquisition of the movement information of the direction conversion structure in the second plane can be realized, the volume of the glove exoskeleton is reduced, and the practicability of the glove exoskeleton is improved.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.
Claims (12)
1. A finger exoskeleton comprising:
the phalanx exoskeleton is a wearing part corresponding to phalanx of a finger;
the direction conversion structure is connected with one side, far away from the fingertip, of the phalange exoskeleton and used for converting the movement of the phalange exoskeleton on a first plane into the movement of the direction conversion structure on a second plane, wherein the first plane is perpendicular to the second plane.
2. The finger exoskeleton of claim 1, wherein said directional rotation structure comprises:
a movement bar for movement with the movement of the finger exoskeleton;
the left and right swing rods are provided with longitudinal pin shaft holes and can move in the second plane;
and the longitudinal pin shaft penetrates through the longitudinal pin shaft hole and is connected with the movable rod and the left and right oscillating rods, wherein the axial extension direction of the longitudinal pin shaft is perpendicular to the second plane, and the longitudinal pin shaft responds to the movement of the movable rod to drive the left and right oscillating rods to move in the second plane.
3. The finger exoskeleton of claim 1, wherein said phalanx exoskeleton comprises an upper and lower swing link, wherein said upper and lower swing link is a wearing portion corresponding to proximal phalanx of a finger;
the upper and lower swing rods are connected with the moving rod through a first transverse pin shaft so that the moving rod moves in response to the movement of the upper and lower swing rods in the first plane, wherein the axial extension direction of the first transverse pin shaft is perpendicular to the axial extension direction of the longitudinal pin shaft.
4. The finger exoskeleton of claim 2, wherein said direction conversion structure further comprises:
a support for securing the finger exoskeleton;
the bearing is arranged in a cavity arranged in the support and is used for connecting the support and the left and right oscillating bars so as to enable the left and right oscillating bars to move in the second plane relative to the support;
the upper and lower swing rods are connected with the support through a second transverse pin shaft so as to enable the upper and lower swing rods to move in the first plane relative to the support, wherein the axial extension direction of the second transverse pin shaft is perpendicular to the axial extension direction of the longitudinal pin shaft.
5. The finger exoskeleton of claim 4, wherein said left and right swing links are provided with threaded holes so that said bearings are fixedly connected with said left and right swing links by screws and bearing pressing plates.
6. The finger exoskeleton of claim 4, wherein said bearing is an interference fit with a cavity of said support.
7. The finger exoskeleton of claim 3, wherein said finger exoskeleton further comprises:
and the first clamp spring and the second clamp spring are respectively arranged in the shaft grooves of the longitudinal pin shaft and the first transverse pin shaft so as to fix the longitudinal pin shaft and the first transverse pin shaft.
8. The finger exoskeleton of claim 4, wherein said finger exoskeleton further comprises:
and the third clamp spring is arranged in a shaft groove of the second transverse pin shaft to fix the second transverse pin shaft.
9. A glove exoskeleton comprising the finger exoskeleton of one of claims 1 to 8, wherein the glove exoskeleton further comprises:
a main frame plate which is a wearing part corresponding to the palm;
the finger exoskeleton is connected with the main frame plate through the direction rotating structure.
10. The glove exoskeleton of claim 9, wherein said finger exoskeleton comprises a support;
the finger exoskeleton is fixedly connected with the main frame plate through a support.
11. The glove exoskeleton of claim 9, wherein said glove exoskeleton further comprises:
and the position information acquisition structure is arranged corresponding to the direction rotating structure and is used for acquiring the motion information of the direction rotating structure on the second plane.
12. The glove exoskeleton of claim 11, wherein said glove exoskeleton further comprises:
and the main control board is electrically connected with the position information acquisition structures and is used for processing the motion information acquired by each position information acquisition structure and generating a control signal for controlling the movement of the finger exoskeleton.
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| CN202010135074.1A CN113345551B (en) | 2020-03-02 | 2020-03-02 | Finger Exoskeleton and Glove Exoskeleton |
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| CN202010135074.1A CN113345551B (en) | 2020-03-02 | 2020-03-02 | Finger Exoskeleton and Glove Exoskeleton |
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